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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_image_grabber-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::ImageGrabber&lt; PointT &gt; 模板类 参考</div>  </div>
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类 pcl::ImageGrabber&lt; PointT &gt; 继承关系图:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a0ae0efb0fe1849858c3b2b083b9295a9"><td class="memItemLeft" align="right" valign="top"><a id="a0ae0efb0fe1849858c3b2b083b9295a9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ImageGrabber</b> (const std::string &amp;dir, float frames_per_second=0, bool repeat=false, bool pclzf_mode=false)</td></tr>
<tr class="separator:a0ae0efb0fe1849858c3b2b083b9295a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1004566eca68541ddfcfec108265e13"><td class="memItemLeft" align="right" valign="top"><a id="ab1004566eca68541ddfcfec108265e13"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ImageGrabber</b> (const std::string &amp;depth_dir, const std::string &amp;rgb_dir, float frames_per_second=0, bool repeat=false)</td></tr>
<tr class="separator:ab1004566eca68541ddfcfec108265e13"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf87b8a633193097abdbb569ddc00870"><td class="memItemLeft" align="right" valign="top"><a id="aaf87b8a633193097abdbb569ddc00870"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ImageGrabber</b> (const std::vector&lt; std::string &gt; &amp;depth_image_files, float frames_per_second=0, bool repeat=false)</td></tr>
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<tr class="memitem:a3d1e3fab2adf08e7dd87a092308d1cd2"><td class="memItemLeft" align="right" valign="top"><a id="a3d1e3fab2adf08e7dd87a092308d1cd2"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber.html#a3d1e3fab2adf08e7dd87a092308d1cd2">~ImageGrabber</a> ()  throw ()</td></tr>
<tr class="memdesc:a3d1e3fab2adf08e7dd87a092308d1cd2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:a3d1e3fab2adf08e7dd87a092308d1cd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7528e2376a448989349de681cd13fc46"><td class="memItemLeft" align="right" valign="top">const boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber.html#a7528e2376a448989349de681cd13fc46">operator[]</a> (size_t idx) const</td></tr>
<tr class="memdesc:a7528e2376a448989349de681cd13fc46"><td class="mdescLeft">&#160;</td><td class="mdescRight">operator[] Returns the idx-th cloud in the dataset, without bounds checking. Note that in the future, this could easily be modified to do caching  <a href="classpcl_1_1_image_grabber.html#a7528e2376a448989349de681cd13fc46">更多...</a><br /></td></tr>
<tr class="separator:a7528e2376a448989349de681cd13fc46"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5ab7211de5fc1cdd6ae9bb78a21986c"><td class="memItemLeft" align="right" valign="top"><a id="ad5ab7211de5fc1cdd6ae9bb78a21986c"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber.html#ad5ab7211de5fc1cdd6ae9bb78a21986c">size</a> () const</td></tr>
<tr class="memdesc:ad5ab7211de5fc1cdd6ae9bb78a21986c"><td class="mdescLeft">&#160;</td><td class="mdescRight">size Returns the number of clouds currently loaded by the grabber <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_image_grabber_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_image_grabber_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_image_grabber_base.html">pcl::ImageGrabberBase</a></td></tr>
<tr class="memitem:acb25eefd11e21230e09ad0489e36cce0 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#acb25eefd11e21230e09ad0489e36cce0">ImageGrabberBase</a> (const std::string &amp;directory, float frames_per_second, bool repeat, bool pclzf_mode)</td></tr>
<tr class="memdesc:acb25eefd11e21230e09ad0489e36cce0 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor taking a folder of depth+[rgb] images.  <a href="classpcl_1_1_image_grabber_base.html#acb25eefd11e21230e09ad0489e36cce0">更多...</a><br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>ImageGrabberBase</b> (const std::string &amp;depth_directory, const std::string &amp;rgb_directory, float frames_per_second, bool repeat)</td></tr>
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<tr class="memitem:a85b43a85a322976d3a5512ee5712da34 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a85b43a85a322976d3a5512ee5712da34">ImageGrabberBase</a> (const std::vector&lt; std::string &gt; &amp;depth_image_files, float frames_per_second, bool repeat)</td></tr>
<tr class="memdesc:a85b43a85a322976d3a5512ee5712da34 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor taking a list of paths to PCD files, that are played in the order they appear in the list.  <a href="classpcl_1_1_image_grabber_base.html#a85b43a85a322976d3a5512ee5712da34">更多...</a><br /></td></tr>
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<tr class="memitem:a214dabef9197dcb3dbb9d0ca0a458463 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a214dabef9197dcb3dbb9d0ca0a458463">ImageGrabberBase</a> (const <a class="el" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a> &amp;src)</td></tr>
<tr class="memdesc:a214dabef9197dcb3dbb9d0ca0a458463 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor.  <a href="classpcl_1_1_image_grabber_base.html#a214dabef9197dcb3dbb9d0ca0a458463">更多...</a><br /></td></tr>
<tr class="separator:a214dabef9197dcb3dbb9d0ca0a458463 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d608ab2247f1ce9d78df3f05ba89133 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a3d608ab2247f1ce9d78df3f05ba89133">operator=</a> (const <a class="el" href="classpcl_1_1_image_grabber_base.html">ImageGrabberBase</a> &amp;src)</td></tr>
<tr class="memdesc:a3d608ab2247f1ce9d78df3f05ba89133 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy operator.  <a href="classpcl_1_1_image_grabber_base.html#a3d608ab2247f1ce9d78df3f05ba89133">更多...</a><br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#ae6f2e355739e03eaabad2656f18ac725">~ImageGrabberBase</a> ()  throw ()</td></tr>
<tr class="memdesc:ae6f2e355739e03eaabad2656f18ac725 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
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<tr class="memitem:a7c227702c05fdd18b6ee527f3e1b1d71 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="a7c227702c05fdd18b6ee527f3e1b1d71"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a7c227702c05fdd18b6ee527f3e1b1d71">start</a> ()</td></tr>
<tr class="memdesc:a7c227702c05fdd18b6ee527f3e1b1d71 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts playing the list of PCD files if frames_per_second is &gt; 0. Otherwise it works as a trigger: publishes only the next PCD file in the list. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a75ad637ea48e1c1d033428f693c78cd5">stop</a> ()</td></tr>
<tr class="memdesc:a75ad637ea48e1c1d033428f693c78cd5 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stops playing the list of PCD files if frames_per_second is &gt; 0. Otherwise the method has no effect. <br /></td></tr>
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<tr class="memitem:aa6195667ff230232ea58fdd3ab722077 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="aa6195667ff230232ea58fdd3ab722077"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#aa6195667ff230232ea58fdd3ab722077">trigger</a> ()</td></tr>
<tr class="memdesc:aa6195667ff230232ea58fdd3ab722077 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Triggers a callback with new data <br /></td></tr>
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<tr class="memitem:a4b186edc19a73af202a1aec7fabccecd inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a4b186edc19a73af202a1aec7fabccecd">isRunning</a> () const</td></tr>
<tr class="memdesc:a4b186edc19a73af202a1aec7fabccecd inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">whether the grabber is started (publishing) or not.  <a href="classpcl_1_1_image_grabber_base.html#a4b186edc19a73af202a1aec7fabccecd">更多...</a><br /></td></tr>
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<tr class="memitem:ad712c9794c17cf42c18c0c96a6c88c98 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#ad712c9794c17cf42c18c0c96a6c88c98">getName</a> () const</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a72e5e0e79134ba1986a018bf79a0a9c2">rewind</a> ()</td></tr>
<tr class="memdesc:a72e5e0e79134ba1986a018bf79a0a9c2 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rewinds to the first PCD file in the list. <br /></td></tr>
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virtual float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a94d28e8cae927e171d0c4e49a0e894e9">getFramesPerSecond</a> () const</td></tr>
<tr class="memdesc:a94d28e8cae927e171d0c4e49a0e894e9 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the frames_per_second. 0 if grabber is trigger-based <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a9f325f6e291f89794d0183478e1abee1">isRepeatOn</a> () const</td></tr>
<tr class="memdesc:a9f325f6e291f89794d0183478e1abee1 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether the repeat flag is on <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a09f94833bdb4dcbdb1633e4fc2d3e04b">atLastFrame</a> () const</td></tr>
<tr class="memdesc:a09f94833bdb4dcbdb1633e4fc2d3e04b inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns if the last frame is reached <br /></td></tr>
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<tr class="memitem:a87ad6bcd55faf0a7c0de7d2dab3168fe inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="a87ad6bcd55faf0a7c0de7d2dab3168fe"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a87ad6bcd55faf0a7c0de7d2dab3168fe">getCurrentDepthFileName</a> () const</td></tr>
<tr class="memdesc:a87ad6bcd55faf0a7c0de7d2dab3168fe inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the filename of the current indexed file <br /></td></tr>
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<tr class="memitem:aa4d0030237e295c51954f88219528510 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="aa4d0030237e295c51954f88219528510"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#aa4d0030237e295c51954f88219528510">getPrevDepthFileName</a> () const</td></tr>
<tr class="memdesc:aa4d0030237e295c51954f88219528510 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the filename of the previous indexed file SDM: adding this back in, but is this useful, or confusing? <br /></td></tr>
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<tr class="memitem:ad21fd9f2284e6d98bca24a6ca18aacad inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="ad21fd9f2284e6d98bca24a6ca18aacad"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#ad21fd9f2284e6d98bca24a6ca18aacad">getDepthFileNameAtIndex</a> (size_t idx) const</td></tr>
<tr class="memdesc:ad21fd9f2284e6d98bca24a6ca18aacad inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the depth filename at a particular index <br /></td></tr>
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<tr class="memitem:a025c718e7168e87bf4125155fe0eece7 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="a025c718e7168e87bf4125155fe0eece7"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a025c718e7168e87bf4125155fe0eece7">getTimestampAtIndex</a> (size_t idx, pcl::uint64_t &amp;timestamp) const</td></tr>
<tr class="memdesc:a025c718e7168e87bf4125155fe0eece7 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Query only the timestamp of an index, if it exists <br /></td></tr>
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<tr class="memitem:af07aa4cb2417064f6251fab77081194e inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#af07aa4cb2417064f6251fab77081194e">setRGBImageFiles</a> (const std::vector&lt; std::string &gt; &amp;rgb_image_files)</td></tr>
<tr class="memdesc:af07aa4cb2417064f6251fab77081194e inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Manually set <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">RGB</a> image files.  <a href="classpcl_1_1_image_grabber_base.html#af07aa4cb2417064f6251fab77081194e">更多...</a><br /></td></tr>
<tr class="separator:af07aa4cb2417064f6251fab77081194e inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c64efa9741f2c158a1f3a494a2a833a inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a1c64efa9741f2c158a1f3a494a2a833a">setCameraIntrinsics</a> (const double focal_length_x, const double focal_length_y, const double principal_point_x, const double principal_point_y)</td></tr>
<tr class="memdesc:a1c64efa9741f2c158a1f3a494a2a833a inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define custom focal length and center pixel. This will override ANY other setting of parameters for the duration of the grabber's life, whether by factory defaults or explicitly read from a frame_[timestamp].xml file.  <a href="classpcl_1_1_image_grabber_base.html#a1c64efa9741f2c158a1f3a494a2a833a">更多...</a><br /></td></tr>
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<tr class="memitem:a768a10439efb2ad98300209afbabc5fa inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a768a10439efb2ad98300209afbabc5fa">getCameraIntrinsics</a> (double &amp;focal_length_x, double &amp;focal_length_y, double &amp;principal_point_x, double &amp;principal_point_y) const</td></tr>
<tr class="memdesc:a768a10439efb2ad98300209afbabc5fa inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current focal length and center pixel. If the intrinsics have been manually set with setCameraIntrinsics, this will return those values. Else, if start () has been called and the grabber has found a frame_[timestamp].xml file, this will return the most recent values read. Else, returns factory defaults.  <a href="classpcl_1_1_image_grabber_base.html#a768a10439efb2ad98300209afbabc5fa">更多...</a><br /></td></tr>
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<tr class="memitem:a32ae91b66b415213ec3b7c29d7e61e49 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="a32ae91b66b415213ec3b7c29d7e61e49"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a32ae91b66b415213ec3b7c29d7e61e49">setDepthImageUnits</a> (float units)</td></tr>
<tr class="memdesc:a32ae91b66b415213ec3b7c29d7e61e49 inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Define the units the depth data is stored in. Defaults to mm (0.001), meaning a brightness of 1000 corresponds to 1 m <br /></td></tr>
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<tr class="memitem:a407a44537584315830041211b1acd72e inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="a407a44537584315830041211b1acd72e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a407a44537584315830041211b1acd72e">setNumberOfThreads</a> (unsigned int nr_threads=0)</td></tr>
<tr class="memdesc:a407a44537584315830041211b1acd72e inherit pub_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of threads, if we wish to use OpenMP for quicker cloud population. Note that for a standard (&lt; 4 core) machine this is unlikely to yield a drastic speedup. <br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_grabber"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_grabber')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_grabber.html">pcl::Grabber</a></td></tr>
<tr class="memitem:ad1bd77c0344f3cf3283757daddb4fe9d inherit pub_methods_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="ad1bd77c0344f3cf3283757daddb4fe9d"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_grabber.html#ad1bd77c0344f3cf3283757daddb4fe9d">Grabber</a> ()</td></tr>
<tr class="memdesc:ad1bd77c0344f3cf3283757daddb4fe9d inherit pub_methods_classpcl_1_1_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:ad1bd77c0344f3cf3283757daddb4fe9d inherit pub_methods_classpcl_1_1_grabber"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c8545d6fe2aadc0fe8ba9643f80c1fc inherit pub_methods_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="a1c8545d6fe2aadc0fe8ba9643f80c1fc"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_grabber.html#a1c8545d6fe2aadc0fe8ba9643f80c1fc">~Grabber</a> ()  throw ()</td></tr>
<tr class="memdesc:a1c8545d6fe2aadc0fe8ba9643f80c1fc inherit pub_methods_classpcl_1_1_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">virtual desctructor. <br /></td></tr>
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<tr class="memitem:a35dc83ee946b0bd5d0a7cbad4df7427b inherit pub_methods_classpcl_1_1_grabber"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:a35dc83ee946b0bd5d0a7cbad4df7427b inherit pub_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">boost::signals2::connection&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_grabber.html#a35dc83ee946b0bd5d0a7cbad4df7427b">registerCallback</a> (const boost::function&lt; T &gt; &amp;callback)</td></tr>
<tr class="memdesc:a35dc83ee946b0bd5d0a7cbad4df7427b inherit pub_methods_classpcl_1_1_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">registers a callback function/method to a signal with the corresponding signature  <a href="classpcl_1_1_grabber.html#a35dc83ee946b0bd5d0a7cbad4df7427b">更多...</a><br /></td></tr>
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<tr class="memitem:aed2b00928603dfd9e51cfb22adbedae6 inherit pub_methods_classpcl_1_1_grabber"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:aed2b00928603dfd9e51cfb22adbedae6 inherit pub_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_grabber.html#aed2b00928603dfd9e51cfb22adbedae6">providesCallback</a> () const</td></tr>
<tr class="memdesc:aed2b00928603dfd9e51cfb22adbedae6 inherit pub_methods_classpcl_1_1_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">indicates whether a signal with given parameter-type exists or not  <a href="classpcl_1_1_grabber.html#aed2b00928603dfd9e51cfb22adbedae6">更多...</a><br /></td></tr>
<tr class="separator:aed2b00928603dfd9e51cfb22adbedae6 inherit pub_methods_classpcl_1_1_grabber"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_file_grabber"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_file_grabber')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_file_grabber.html">pcl::FileGrabber&lt; PointT &gt;</a></td></tr>
<tr class="memitem:adb6fce6f3c3b8f358e38250340c389d7 inherit pub_methods_classpcl_1_1_file_grabber"><td class="memItemLeft" align="right" valign="top"><a id="adb6fce6f3c3b8f358e38250340c389d7"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_grabber.html#adb6fce6f3c3b8f358e38250340c389d7">~FileGrabber</a> ()</td></tr>
<tr class="memdesc:adb6fce6f3c3b8f358e38250340c389d7 inherit pub_methods_classpcl_1_1_file_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:adb6fce6f3c3b8f358e38250340c389d7 inherit pub_methods_classpcl_1_1_file_grabber"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3494d229749ce2a9c5623db7d420a092 inherit pub_methods_classpcl_1_1_file_grabber"><td class="memItemLeft" align="right" valign="top">virtual const boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_grabber.html#a3494d229749ce2a9c5623db7d420a092">at</a> (size_t idx) const</td></tr>
<tr class="memdesc:a3494d229749ce2a9c5623db7d420a092 inherit pub_methods_classpcl_1_1_file_grabber"><td class="mdescLeft">&#160;</td><td class="mdescRight">at Returns the idx-th cloud in the dataset, with bounds checking  <a href="classpcl_1_1_file_grabber.html#a3494d229749ce2a9c5623db7d420a092">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:aaac9ffaa8f84a7c3bc97650cb7727473"><td class="memItemLeft" align="right" valign="top"><a id="aaac9ffaa8f84a7c3bc97650cb7727473"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>publish</b> (const <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;blob, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation) const</td></tr>
<tr class="separator:aaac9ffaa8f84a7c3bc97650cb7727473"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_image_grabber_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_image_grabber_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_image_grabber_base.html">pcl::ImageGrabberBase</a></td></tr>
<tr class="memitem:a424347bebaa99168a01b7caea5403fae inherit pro_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="a424347bebaa99168a01b7caea5403fae"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#a424347bebaa99168a01b7caea5403fae">numFrames</a> () const</td></tr>
<tr class="memdesc:a424347bebaa99168a01b7caea5403fae inherit pro_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convenience function to see how many frames this consists of <br /></td></tr>
<tr class="separator:a424347bebaa99168a01b7caea5403fae inherit pro_methods_classpcl_1_1_image_grabber_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae4baf7fe44013726b614e60199387176 inherit pro_methods_classpcl_1_1_image_grabber_base"><td class="memItemLeft" align="right" valign="top"><a id="ae4baf7fe44013726b614e60199387176"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_image_grabber_base.html#ae4baf7fe44013726b614e60199387176">getCloudAt</a> (size_t idx, <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;blob, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation) const</td></tr>
<tr class="memdesc:ae4baf7fe44013726b614e60199387176 inherit pro_methods_classpcl_1_1_image_grabber_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the cloud in ROS form at location idx <br /></td></tr>
<tr class="separator:ae4baf7fe44013726b614e60199387176 inherit pro_methods_classpcl_1_1_image_grabber_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_grabber"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_grabber')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_grabber.html">pcl::Grabber</a></td></tr>
<tr class="memitem:a1eaf930e8f5bc9befdf9e7e3dd85cab3 inherit pro_methods_classpcl_1_1_grabber"><td class="memItemLeft" align="right" valign="top"><a id="a1eaf930e8f5bc9befdf9e7e3dd85cab3"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>signalsChanged</b> ()</td></tr>
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<tr class="memitem:a29a1f6e6e197519b08536b6095d28ccc inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplParams" colspan="2"><a id="a29a1f6e6e197519b08536b6095d28ccc"></a>
template&lt;typename T &gt; </td></tr>
<tr class="memitem:a29a1f6e6e197519b08536b6095d28ccc inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">boost::signals2::signal&lt; T &gt; *&#160;</td><td class="memTemplItemRight" valign="bottom"><b>find_signal</b> () const</td></tr>
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<tr class="memitem:ae87e7482328a297a95396467e0e28856 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplParams" colspan="2"><a id="ae87e7482328a297a95396467e0e28856"></a>
template&lt;typename T &gt; </td></tr>
<tr class="memitem:ae87e7482328a297a95396467e0e28856 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><b>num_slots</b> () const</td></tr>
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<tr class="memitem:aa9ade6bd29a46f6acb411a7968f99ae8 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplParams" colspan="2"><a id="aa9ade6bd29a46f6acb411a7968f99ae8"></a>
template&lt;typename T &gt; </td></tr>
<tr class="memitem:aa9ade6bd29a46f6acb411a7968f99ae8 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>disconnect_all_slots</b> ()</td></tr>
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template&lt;typename T &gt; </td></tr>
<tr class="memitem:aceece1bd68187c109b289567c33536b9 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><b>block_signal</b> ()</td></tr>
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template&lt;typename T &gt; </td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>block_signals</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>unblock_signals</b> ()</td></tr>
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template&lt;typename T &gt; </td></tr>
<tr class="memitem:a3e1ee7a265cee458f59414de47a34ed2 inherit pro_methods_classpcl_1_1_grabber"><td class="memTemplItemLeft" align="right" valign="top">boost::signals2::signal&lt; T &gt; *&#160;</td><td class="memTemplItemRight" valign="bottom"><b>createSignal</b> ()</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
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boost::signals2::signal&lt; void(const boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;)&gt; *&#160;</td><td class="memItemRight" valign="bottom"><b>signal_</b></td></tr>
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std::map&lt; std::string, boost::signals2::signal_base * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>signals_</b></td></tr>
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std::map&lt; std::string, std::vector&lt; boost::signals2::connection &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>connections_</b></td></tr>
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std::map&lt; std::string, std::vector&lt; boost::signals2::shared_connection_block &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>shared_connections_</b></td></tr>
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<h2 class="groupheader">成员函数说明</h2>
<a id="a7528e2376a448989349de681cd13fc46"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7528e2376a448989349de681cd13fc46">&#9670;&nbsp;</a></span>operator[]()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT &gt; </div>
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          <td class="memname">const boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; <a class="el" href="classpcl_1_1_image_grabber.html">pcl::ImageGrabber</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::operator[] </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>idx</em></td><td>)</td>
          <td> const</td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>operator[] Returns the idx-th cloud in the dataset, without bounds checking. Note that in the future, this could easily be modified to do caching </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">idx</td><td>The frame to load </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1_file_grabber.html#a89929617bdc7df84486a66041b288db0">pcl::FileGrabber&lt; PointT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    Eigen::Vector4f origin;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    Eigen::Quaternionf orientation;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <a class="code" href="classpcl_1_1_image_grabber_base.html#ae4baf7fe44013726b614e60199387176">getCloudAt</a> (idx, blob, origin, orientation);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr cloud (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> ());</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    pcl::fromPCLPointCloud2 (blob, *cloud);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    cloud-&gt;sensor_origin_ = origin;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    cloud-&gt;sensor_orientation_ = orientation;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordflow">return</span> (cloud);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  }</div>
<div class="ttc" id="aclasspcl_1_1_image_grabber_base_html_ae4baf7fe44013726b614e60199387176"><div class="ttname"><a href="classpcl_1_1_image_grabber_base.html#ae4baf7fe44013726b614e60199387176">pcl::ImageGrabberBase::getCloudAt</a></div><div class="ttdeci">bool getCloudAt(size_t idx, pcl::PCLPointCloud2 &amp;blob, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation) const</div><div class="ttdoc">Gets the cloud in ROS form at location idx</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
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